The invention discloses an adaptive weight coefficient MPC path tracking control method and system. Establishing a vehicle running state parameter prediction model based on the three-degree-of-freedom dynamic model and an MPC algorithm; optimizing the vehicle running state parameter at the next moment output by the vehicle running state parameter prediction model by adopting a filtering algorithm according to the measured value of the vehicle state parameter acquired from the vehicle to obtain an optimized vehicle running state parameter prediction model; and solving a target function in the MPC algorithm to obtain a front wheel steering angle increment at the next moment, and sending the front wheel steering angle increment as an adjustment quantity to the controlled vehicle, thereby completing path tracking control. The anti-interference performance is high, and the influence of external noise on the sensor is reduced; the weight of the target function of the MPC controller can be adaptively corrected according to the driving condition, and the tracking effect is more accurate.

    本发明公开了一种自适应权重系数MPC的路径跟踪控制方法和系统。基于三自由度动力学模型和MPC算法建立车辆运行状态参数预测模型;根据从车辆获取的车辆状态参数的测量值采用滤波算法对所述车辆运行状态参数预测模型输出的下一时刻的车辆运行状态参数进行优化,得到优化后的车辆运行状态参数预测模型;求解MPC算法中的目标函数,得到下一时刻的前轮转角增量,将其作为调整量发送至被控车辆,从而完成路径跟踪控制。本发明抗干扰性强,降低外界噪声对传感器的影响;可以根据行驶状况自适应修正MPC控制器目标函数的权重,跟踪效果更加精准。


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    Title :

    Path tracking control method and system of adaptive weight coefficient MPC


    Additional title:

    一种自适应权重系数MPC的路径跟踪控制方法和系统


    Contributors:
    WANG SHIYU (author) / YAN TAOWEI (author) / CUI HAO (author)

    Publication date :

    2024-06-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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